EP1619567A3 - Data processing apparatus for arc welding - Google Patents

Data processing apparatus for arc welding Download PDF

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Publication number
EP1619567A3
EP1619567A3 EP05015914A EP05015914A EP1619567A3 EP 1619567 A3 EP1619567 A3 EP 1619567A3 EP 05015914 A EP05015914 A EP 05015914A EP 05015914 A EP05015914 A EP 05015914A EP 1619567 A3 EP1619567 A3 EP 1619567A3
Authority
EP
European Patent Office
Prior art keywords
data
section
angle
arc welding
reference plane
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP05015914A
Other languages
German (de)
French (fr)
Other versions
EP1619567B1 (en
EP1619567A2 (en
Inventor
Atsushi Watanabe
Yoshiharu FANUC Nagatsuka
Toshiya Takeda
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of EP1619567A2 publication Critical patent/EP1619567A2/en
Publication of EP1619567A3 publication Critical patent/EP1619567A3/en
Application granted granted Critical
Publication of EP1619567B1 publication Critical patent/EP1619567B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39029—Verify if calibration position is a correct, by comparing with range in rom
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40387—Modify without repeating teaching operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40394—Combine offline with online information to generate robot actions

Abstract

A data processing apparatus for processing data described in a welding operation program of an arc welding robot system. The data processing apparatus includes a data obtaining section for obtaining a plurality of position and orientation data at a plurality of different teaching points previously taught and included in the welding operation program; a reference plane setting section for setting a virtual reference plane as a reference defining a geometric placement of an arc welding torch relative to a workpiece during a welding operation, based on the position and orientation data obtained in the data obtaining section; an angle calculating section for calculating a plurality of angle data representing the geometric placement of the arc welding torch at every teaching points, by using the position and orientation data obtained in the data obtaining section and the virtual reference plane set in the reference plane setting section; and an angle processing section for performing at least one of a displaying process and a correcting process of the angle data calculated in the angle calculating section.
EP05015914.4A 2004-07-23 2005-07-21 Data processing apparatus for arc welding Active EP1619567B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2004216467A JP4917252B2 (en) 2004-07-23 2004-07-23 Arc welding equipment

Publications (3)

Publication Number Publication Date
EP1619567A2 EP1619567A2 (en) 2006-01-25
EP1619567A3 true EP1619567A3 (en) 2009-11-11
EP1619567B1 EP1619567B1 (en) 2013-10-23

Family

ID=35355104

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05015914.4A Active EP1619567B1 (en) 2004-07-23 2005-07-21 Data processing apparatus for arc welding

Country Status (4)

Country Link
US (1) US7734358B2 (en)
EP (1) EP1619567B1 (en)
JP (1) JP4917252B2 (en)
CN (1) CN100460124C (en)

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EP1886771B1 (en) * 2006-05-31 2011-04-06 Panasonic Corporation Rotation center point calculating method, rotation axis calculating method, program creating method, operation method, and robot apparatus
US8588958B2 (en) * 2007-09-04 2013-11-19 Musashi Engineering, Inc. Moving program making-out program and device
JP2009166076A (en) * 2008-01-15 2009-07-30 Kobe Steel Ltd Welding robot
JP4653836B2 (en) * 2008-12-12 2011-03-16 ファナック株式会社 Simulation device
JP5276527B2 (en) * 2009-06-16 2013-08-28 株式会社ダイヘン Arc welding robot control method and arc welding robot control apparatus
JP5466484B2 (en) * 2009-11-06 2014-04-09 株式会社神戸製鋼所 Arc welding system, single arc welding system and tandem arc welding system
JP5282014B2 (en) * 2009-11-18 2013-09-04 本田技研工業株式会社 Teaching line correction device, teaching line correction method, and program thereof
JP5715809B2 (en) * 2010-03-29 2015-05-13 株式会社ダイヘン Robot work program creation method, robot work program creation device, and robot control system
CN102371584B (en) * 2010-08-11 2014-02-19 上海高威科电气技术有限公司 Expandable industrial robot control system
US8964026B2 (en) 2012-04-10 2015-02-24 Lincoln Global, Inc. Image-based motion characterization system for a mobile device
JP6359847B2 (en) * 2014-03-18 2018-07-18 株式会社ダイヘン Interference avoidance device
WO2015166574A1 (en) * 2014-05-01 2015-11-05 本田技研工業株式会社 Teaching data preparation device and teaching data preparation method for articulated robot
JP6651707B2 (en) * 2015-04-10 2020-02-19 セイコーエプソン株式会社 Robot, control device, and control method
EP3446823B1 (en) * 2016-10-07 2021-04-28 Mayekawa Mfg. Co., Ltd. Welding device and welding method
DE102017123295A1 (en) * 2017-10-06 2019-04-11 Pilz Gmbh & Co. Kg Security system to ensure the cooperative operation of people, robots and machines
JP6626065B2 (en) * 2017-10-31 2019-12-25 ファナック株式会社 Robot teaching device that warns or corrects the displacement of the teaching point or teaching line
JP6734316B2 (en) * 2018-03-22 2020-08-05 ファナック株式会社 Robot operation program setting device, robot, and robot control method
JP2021515250A (en) 2018-04-30 2021-06-17 パス ロボティクス，インコーポレイテッド Reflection falsification laser scanner
JP7088800B2 (en) * 2018-09-27 2022-06-21 ファナック株式会社 Robot control device that controls the arc motion of the robot
WO2020167739A1 (en) * 2019-02-11 2020-08-20 Hypertherm, Inc. Motion distribution in robotic systems
JP2021070096A (en) * 2019-10-30 2021-05-06 キヤノン株式会社 Control method, control device, robot device, article manufacturing method, operation program creation method, operation program creation device, display device, control program and recording medium
US11407110B2 (en) 2020-07-17 2022-08-09 Path Robotics, Inc. Real time feedback and dynamic adjustment for welding robots
CA3211502A1 (en) 2021-02-24 2022-09-01 Path Robotics, Inc. Autonomous welding robots
NL2032086B1 (en) * 2022-06-07 2023-12-14 Hgr Tec B V Method and system for defining waypoints on a workpiece

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JPH04137108A (en) * 1990-09-28 1992-05-12 Shin Meiwa Ind Co Ltd Offline teaching method for robot
EP0785492A1 (en) * 1995-08-09 1997-07-23 Fanuc Ltd Jog operation method of robot
EP0974884A2 (en) * 1998-07-09 2000-01-26 Fanuc Ltd Robot controller

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JPH04137108A (en) * 1990-09-28 1992-05-12 Shin Meiwa Ind Co Ltd Offline teaching method for robot
EP0785492A1 (en) * 1995-08-09 1997-07-23 Fanuc Ltd Jog operation method of robot
EP0974884A2 (en) * 1998-07-09 2000-01-26 Fanuc Ltd Robot controller

Also Published As

Publication number Publication date
CN1724205A (en) 2006-01-25
EP1619567B1 (en) 2013-10-23
US20060030970A1 (en) 2006-02-09
JP2006039781A (en) 2006-02-09
EP1619567A2 (en) 2006-01-25
JP4917252B2 (en) 2012-04-18
US7734358B2 (en) 2010-06-08
CN100460124C (en) 2009-02-11

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